Position, Velocity and Attitude Storage Class. More...

Classes
struct	States
	States. More...

Public Member Functions
std::optional< std::reference_wrapper< const KeyedMatrixXd< States::StateKeys, States::StateKeys > > >	e_CovarianceMatrix () const
	Returns the Covariance matrix in ECEF frame.

const Eigen::Vector3d &	e_velocity () const
	Returns the velocity in [m/s], in earth coordinates.

std::optional< std::reference_wrapper< const Eigen::Vector3d > >	e_velocityStdev () const
	Returns the standard deviation of the velocity in [m/s], in earth coordinates.

std::string	getType () const override
	Returns the type of the data class.

std::optional< double >	getValueAt (size_t idx) const override
	Get the value at the index.

std::optional< std::reference_wrapper< const KeyedMatrixXd< States::StateKeys, States::StateKeys > > >	n_CovarianceMatrix () const
	Returns the Covariance matrix in local navigation frame.

const Eigen::Vector3d &	n_velocity () const
	Returns the velocity in [m/s], in navigation coordinates.

std::optional< std::reference_wrapper< const Eigen::Vector3d > >	n_velocityStdev () const
	Returns the standard deviation of the velocity in [m/s], in navigation coordinates.

template<typename Derived >
void	setPosVelCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.

template<typename Derived >
void	setPosVelCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.

bool	setValueAt (size_t idx, double value) override
	Set the value at the index.

template<typename Derived >
void	setVelocity_e (const Eigen::MatrixBase< Derived > &e_velocity)
	Set the Velocity in the earth frame.

template<typename Derived >
void	setVelocity_n (const Eigen::MatrixBase< Derived > &n_velocity)
	Set the Velocity in the NED frame.

template<typename Derived , typename Derived2 >
void	setVelocityAndStdDev_e (const Eigen::MatrixBase< Derived > &e_velocity, const Eigen::MatrixBase< Derived2 > &e_velocityCovarianceMatrix)
	Set the Velocity in ECEF coordinates and its standard deviation.

template<typename Derived , typename Derived2 >
void	setVelocityAndStdDev_n (const Eigen::MatrixBase< Derived > &n_velocity, const Eigen::MatrixBase< Derived2 > &n_velocityCovarianceMatrix)
	Set the Velocity in NED coordinates and its standard deviation.

std::vector< std::string >	staticDataDescriptors () const override
	Returns a vector of data descriptors.

size_t	staticDescriptorCount () const override
	Get the amount of descriptors.

Public Member Functions inherited from NAV::Pos
const double &	altitude () const
	Returns the altitude (height above ground) in [m].

std::optional< std::reference_wrapper< const KeyedMatrixXd< States::StateKeys, States::StateKeys > > >	e_CovarianceMatrix () const
	Returns the Covariance matrix in ECEF frame.

const Eigen::Vector3d &	e_position () const
	Returns the coordinates in [m].

std::optional< std::reference_wrapper< const Eigen::Vector3d > >	e_positionStdev () const
	Returns the standard deviation of the position in ECEF frame coordinates in [m].

Eigen::Quaterniond	e_Quat_n () const
	Returns the Quaternion from navigation to Earth-fixed frame.

const double &	latitude () const
	Returns the latitude 𝜙 in [rad].

const Eigen::Vector3d &	lla_position () const
	Returns the latitude 𝜙, longitude λ and altitude (height above ground) in [rad, rad, m].

const double &	longitude () const
	Returns the longitude λ in [rad].

std::optional< std::reference_wrapper< const KeyedMatrixXd< States::StateKeys, States::StateKeys > > >	n_CovarianceMatrix () const
	Returns the Covariance matrix in local navigation frame.

std::optional< std::reference_wrapper< const Eigen::Vector3d > >	n_positionStdev () const
	Returns the standard deviation of the position in local navigation frame coordinates in [m].

Eigen::Quaterniond	n_Quat_e () const
	Returns the Quaternion from Earth-fixed frame to navigation.

template<typename Derived >
void	setPosCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.

template<typename Derived >
void	setPosCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.

template<typename Derived >
void	setPosition_e (const Eigen::MatrixBase< Derived > &e_position)
	Set the Position in coordinates.

template<typename Derived >
void	setPosition_lla (const Eigen::MatrixBase< Derived > &lla_position)
	Set the Position lla object.

template<typename Derived , typename Derived2 >
void	setPositionAndStdDev_e (const Eigen::MatrixBase< Derived > &e_position, const Eigen::MatrixBase< Derived2 > &e_positionCovarianceMatrix)
	Set the Position in ECEF coordinates and its standard deviation.

template<typename Derived , typename Derived2 >
void	setPositionAndStdDev_lla (const Eigen::MatrixBase< Derived > &lla_position, const Eigen::MatrixBase< Derived2 > &n_positionCovarianceMatrix)
	Set the Position in LLA coordinates and its standard deviation.

Public Member Functions inherited from NAV::NodeData
void	addEvent (const std::string &text)
	Adds the event to the list.

virtual std::vector< std::string >	dynamicDataDescriptors () const
	Returns a vector of data descriptors for the dynamic data.

const std::vector< std::string > &	events () const
	Returns a vector of string events associated with this data.

virtual std::vector< std::pair< std::string, double > >	getDynamicData () const
	Returns a vector of data descriptors and values for the dynamic data.

virtual std::optional< double >	getDynamicDataAt (const std::string &) const
	Get the value for the descriptor.

double	getValueAtOrNaN (size_t idx) const
	Get the value at the index or NaN if not in the observation.

virtual void	guiTooltip (bool detailView, bool firstOpen, const char displayName, const char id, int *rootWindow) const
	Shows a GUI tooltip to look into details of the observation.

virtual bool	hasTooltip () const
	Return whether this data has a tooltip.

	NodeData ()=default
	Default constructor.

	NodeData (const NodeData &)=default
	Copy constructor.

	NodeData (NodeData &&)=default
	Move constructor.

NodeData &	operator= (const NodeData &)=default
	Copy assignment operator.

NodeData &	operator= (NodeData &&)=default
	Move assignment operator.

virtual bool	setDynamicDataAt (const std::string &, double)
	Set the value for the descriptor.

virtual	~NodeData ()=default
	Destructor.

Static Public Member Functions
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.

static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.

static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.

static std::string	type ()
	Returns the type of the data class.

Static Public Member Functions inherited from NAV::Pos
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.

static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.

static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.

static std::string	type ()
	Returns the type of the data class.

Static Public Member Functions inherited from NAV::NodeData
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.

static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.

static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.

static std::string	type ()
	Returns the type of the data class.

Private Attributes
std::optional< KeyedMatrixXd< States::StateKeys, States::StateKeys > >	_e_covarianceMatrix
	Covariance matrix in ECEF coordinates.

Eigen::Vector3d	_e_velocity
	Velocity in earth coordinates [m/s].

std::optional< Eigen::Vector3d >	_e_velocityStdev
	Standard deviation of Velocity in earth coordinates [m/s].

std::optional< KeyedMatrixXd< States::StateKeys, States::StateKeys > >	_n_covarianceMatrix
	Covariance matrix in local navigation coordinates.

Eigen::Vector3d	_n_velocity
	Velocity in navigation coordinates [m/s].

std::optional< Eigen::Vector3d >	_n_velocityStdev
	Standard deviation of Velocity in navigation coordinates [m/s].

Additional Inherited Members
Public Attributes inherited from NAV::NodeData
InsTime	insTime
	Time at which the message was received.

Protected Attributes inherited from NAV::NodeData
std::vector< std::string >	_events
	List of events.

Detailed Description

Position, Velocity and Attitude Storage Class.

Member Function Documentation

◆ getType()

std::string NAV::PosVel::getType ( ) const

inlinenodiscardoverridevirtual

Returns the type of the data class.

Returns: The data type

Reimplemented from NAV::Pos.

Reimplemented in NAV::PosVelAtt, NAV::RtklibPosObs, NAV::SppSolution, and NAV::WiFiPositioningSolution.

◆ getValueAt()

std::optional< double > NAV::PosVel::getValueAt ( size_t idx ) const

inlinenodiscardoverridevirtual

Get the value at the index.

Parameters

idx	Index corresponding to data descriptor order

Returns: Value if in the observation

Reimplemented from NAV::Pos.

Reimplemented in NAV::PosVelAtt, NAV::RtklibPosObs, NAV::SppSolution, and NAV::WiFiPositioningSolution.

◆ parentTypes()

static std::vector< std::string > NAV::PosVel::parentTypes ( )

inlinestaticnodiscard

Returns the parent types of the data class.

Returns: The parent data types

◆ setPosVelCovarianceMatrix_e()

template<typename Derived >

void NAV::PosVel::setPosVelCovarianceMatrix_e ( const Eigen::MatrixBase< Derived > & e_covarianceMatrix )

inline

Set the Covariance matrix in ECEF coordinates.

Parameters

[in] e_covarianceMatrix 6x6 PosVel Error variance

Attention: Position has to be set before calling this

◆ setPosVelCovarianceMatrix_n()

template<typename Derived >

void NAV::PosVel::setPosVelCovarianceMatrix_n ( const Eigen::MatrixBase< Derived > & n_covarianceMatrix )

inline

Set the Covariance matrix in NED coordinates.

Parameters

[in] n_covarianceMatrix 6x6 PosVel Error variance

Attention: Position has to be set before calling this

◆ setValueAt()

bool NAV::PosVel::setValueAt	(	size_t	idx,
		double	value )

inlinenodiscardoverridevirtual

Set the value at the index.

Parameters

idx	Index corresponding to data descriptor order
value	Value to set

Returns: True if the value was updated

Reimplemented from NAV::Pos.

Reimplemented in NAV::PosVelAtt.

◆ setVelocity_e()

template<typename Derived >

void NAV::PosVel::setVelocity_e ( const Eigen::MatrixBase< Derived > & e_velocity )

inline

Set the Velocity in the earth frame.

Parameters

[in] e_velocity The new velocity in the earth frame

◆ setVelocity_n()

template<typename Derived >

void NAV::PosVel::setVelocity_n ( const Eigen::MatrixBase< Derived > & n_velocity )

inline

Set the Velocity in the NED frame.

Parameters

[in] n_velocity The new velocity in the NED frame

◆ setVelocityAndStdDev_e()

template<typename Derived , typename Derived2 >

void NAV::PosVel::setVelocityAndStdDev_e	(	const Eigen::MatrixBase< Derived > &	e_velocity,
		const Eigen::MatrixBase< Derived2 > &	e_velocityCovarianceMatrix )

inline

Set the Velocity in ECEF coordinates and its standard deviation.

Parameters

[in]	e_velocity	New Velocity in ECEF coordinates [m/s]
[in]	e_velocityCovarianceMatrix	Covariance matrix of Velocity in earth coordinates [m/s]

◆ setVelocityAndStdDev_n()

template<typename Derived , typename Derived2 >

void NAV::PosVel::setVelocityAndStdDev_n	(	const Eigen::MatrixBase< Derived > &	n_velocity,
		const Eigen::MatrixBase< Derived2 > &	n_velocityCovarianceMatrix )

inline

Set the Velocity in NED coordinates and its standard deviation.

Parameters

[in]	n_velocity	New Velocity in NED coordinates [m/s]
[in]	n_velocityCovarianceMatrix	Covariance matrix of Velocity in navigation coordinates [m/s]

◆ staticDataDescriptors()

std::vector< std::string > NAV::PosVel::staticDataDescriptors ( ) const

inlinenodiscardoverridevirtual

Returns a vector of data descriptors.

Reimplemented from NAV::Pos.

Reimplemented in NAV::PosVelAtt, NAV::RtklibPosObs, NAV::SppSolution, and NAV::WiFiPositioningSolution.

◆ staticDescriptorCount()

size_t NAV::PosVel::staticDescriptorCount ( ) const

inlinenodiscardoverridevirtual

Get the amount of descriptors.

Reimplemented from NAV::Pos.

Reimplemented in NAV::PosVelAtt, NAV::RtklibPosObs, NAV::SppSolution, and NAV::WiFiPositioningSolution.

◆ type()

static std::string NAV::PosVel::type ( )

inlinestaticnodiscard

Returns the type of the data class.

Returns: The data type

The documentation for this class was generated from the following file:

/home/runner/work/INSTINCT/INSTINCT/src/NodeData/State/PosVel.hpp

Classes

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getType()

◆ getValueAt()

◆ parentTypes()

◆ setPosVelCovarianceMatrix_e()

◆ setPosVelCovarianceMatrix_n()

◆ setValueAt()

◆ setVelocity_e()

◆ setVelocity_n()

◆ setVelocityAndStdDev_e()

◆ setVelocityAndStdDev_n()

◆ staticDataDescriptors()

◆ staticDescriptorCount()

◆ type()